CN113733142B

CN113733142B - Manipulator system and control method for manipulator system

Info

Publication number: CN113733142B
Application number: CN202111303019.XA
Authority: CN
Inventors: 黄耀升; 吴建锋; 周庆东; 郑海; 陈志锋; 王永华; 林明辉; 邹振康; 谢星炜
Original assignee: Jiangmen Power Supply Bureau of Guangdong Power Grid Co Ltd; Guangdong Power Grid Energy Development Co Ltd
Current assignee: Jiangmen Power Supply Bureau of Guangdong Power Grid Co Ltd; Guangdong Power Grid Energy Development Co Ltd
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2022-03-08
Anticipated expiration: 2041-11-05
Also published as: CN113733142A

Abstract

The invention discloses a manipulator system and a control method thereof, wherein the manipulator system comprises an unmanned aerial vehicle, an action acquisition device, a manipulator and a control device, wherein the unmanned aerial vehicle is used for acquiring a global video image of a target object; the action acquisition device is used for acquiring the hand action information of the user; the mechanical arm comprises a limiting unit, a camera device and a movable clamping unit, wherein the limiting unit comprises a fixed limiting arm and a movable limiting arm, the camera device is used for collecting local video images on a movable path of the mechanical arm, and the movable clamping unit comprises a first movable clamping arm and a second movable clamping arm; the control device comprises a tracking unit, a display unit and a control unit, wherein the tracking unit is used for tracking and marking the manipulator and the target object in the global video image according to the marking information input by the user, and the control unit is used for controlling the manipulator according to the hand action information so as to drive the manipulator to move. By adopting the invention, the quick movement and positioning control of the manipulator can be realized, and the flexibility is strong.

Description

Manipulator system and control method for manipulator system

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator system and a control method of the manipulator system.

Background

The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

However, for different application scenarios, manipulators with different structures and performances need to be designed.

For example: the power security department needs to cut off trees along the power transmission network which may threaten the safety of power transmission. Such power transmission lines erected above the forest are generally high-voltage power transmission lines or extra-high-voltage power transmission lines, and if the trees are handled by manpower, the trees may touch the high-voltage power transmission lines during the dumping process, so that the safety of ground personnel is threatened. Large machines often have difficulty entering a forest area at a predetermined location.

For another example: the construction industry requires inspection of large steel structural frames (e.g., bird's nest buildings). Because steel structural framework's structure is complicated, if patrolling and examining by the maintainer, the incident appears easily, or some positions maintainer can't reach.

Therefore, a portable manipulator system is needed to achieve an intelligent moving function, flexibly reach a target position, and meet functions of routing inspection, cutting and the like.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a manipulator system with a simple structure and a control method of the manipulator system, which can realize flexible movement of a manipulator, complete movement and positioning control and have strong practicability.

In order to solve the technical problem, the invention provides a manipulator system which comprises an unmanned aerial vehicle, an action acquisition device, a manipulator and a control device, wherein the unmanned aerial vehicle, the action acquisition device and the manipulator are all connected with the control device in a wireless mode; the unmanned aerial vehicle is used for acquiring a global video image of a target object; the motion acquisition device is used for acquiring the hand motion information of the user; the manipulator comprises a limiting unit, a camera device and a movable clamping unit, wherein the limiting unit comprises a fixed limiting arm and a movable limiting arm which are used for fixing a target object, the camera device is arranged between the fixed limiting arm and the movable limiting arm and is used for collecting local video images on a movable path of the manipulator, the movable clamping unit comprises a first movable clamping arm and a second movable clamping arm which are arranged on two sides of the limiting unit and are used for rotating, stretching, grasping and releasing, and sensors are arranged on contact surfaces of the fixed limiting arm, the movable limiting arm, the first movable clamping arm and the second movable clamping arm and the target object; the control device comprises a tracking unit, a display unit and a control unit, wherein the tracking unit is used for tracking and marking the manipulator and a target object in the global video image according to marking information input by a user, the display unit is used for displaying the local video image, and the control unit is used for controlling the manipulator according to the hand action information so as to drive the manipulator to move.

As an improvement of the above solution, the control device further includes a path planning unit, where the path planning unit is configured to identify an obstacle object in the local video image, determine a target mobile node according to the movement range of the manipulator and the position information of the obstacle object, construct a corresponding movement reference path according to the target mobile node, and display the movement reference path in the local video image, where no obstacle object exists in the movement reference path.

As an improvement of the above scheme, the hand motion information includes full fist making information, five-finger opening information, index finger single opening information, index finger and middle finger simultaneous opening information, thumb single opening information, thumb and tail finger simultaneous opening information, and upper arm and lower arm angle information.

As an improvement of the above scheme, the first movable clamping arm and the second movable clamping arm both comprise a clamping claw assembly, a first telescopic section, a rotary telescopic driving mechanism and a second telescopic section which are connected in sequence; the rotary telescopic driving mechanism is connected with the control unit and used for driving the first telescopic section to swing relative to the second telescopic section and driving the first telescopic section and the second telescopic section to perform telescopic operation; the clamping jaw assembly comprises a clamping jaw and a clamping jaw driving mechanism, and the clamping jaw driving mechanism is connected with the control unit and used for driving the clamping jaw to perform clamping and loosening operations.

As an improvement of the above scheme, a first limiting claw and a first limiting driving mechanism are arranged at the front end of the fixed limiting arm, and the first limiting driving mechanism is used for driving the first limiting claw to grasp and release; the movable limiting arm comprises a movable limiting arm body, an elastic connecting seat, a movable sleeve, a hinging seat, a second limiting claw, an elastic driving mechanism and a second limiting driving mechanism; the elastic connecting seat is connected to the front end of the movable limiting arm body through a spring set, a snap ring is arranged on the outer side of the elastic connecting seat, a buckle matched with the snap ring is movably sleeved on the movable sleeve and is sleeved on the outer sides of the elastic connecting seat and the movable limiting arm body, the elastic driving mechanism is used for driving the movable sleeve to move, and the movable sleeve can drive the elastic connecting seat to move towards the movable limiting arm body through self movement; the hinge base is hinged to the elastic connecting base, the second limiting claw is arranged at the front end of the hinge base, and the second limiting driving mechanism is used for driving the second limiting claw to grasp and loosen.

As an improvement of the above scheme, the manipulator further comprises a sawing unit, wherein the sawing unit is arranged between the fixed limiting arm and the movable limiting arm and is used for sawing a target object; a first sliding rod and a second sliding rod are arranged on two sides of the hinged base, a first sliding groove and a second sliding groove are formed in the inner side face of the elastic connecting base, the end portion of the first sliding rod is located in the first sliding groove and can slide in the first sliding groove, the end portion of the second sliding rod is located in the second sliding groove and can slide in the second sliding groove, and a reset spring used for driving the first sliding rod to reset is further arranged in the first sliding groove; the first sliding groove is horizontally arranged, the second sliding groove comprises a horizontal guide section and an arc-shaped guide section, the horizontal guide section is horizontally arranged, and the arc-shaped guide section is connected with the tail end of the horizontal guide section and is respectively arranged upwards and downwards symmetrically.

As an improvement of the above scheme, the manipulator system further comprises a lifting device and a detection device; the manipulator is detachably arranged on the lifting device, and the lifting device is used for lifting the manipulator; the detection equipment is arranged between the fixed limiting arm and the movable limiting arm and is used for detecting the information of the obstacle object in a preset range; the control device further comprises a lifting unit, and the lifting unit is used for driving the lifting device according to the obstacle object information.

Correspondingly, the invention also provides a control method of the manipulator system, which comprises the following steps: acquiring a global video image of a target object acquired by an unmanned aerial vehicle in real time, and displaying the global video image; acquiring mark information input by a user; tracking the positions of the marking manipulator and the target object in the global video image according to the marking information; acquiring a local video image on the movable path of the manipulator, which is acquired by a camera device, and displaying the local video image; acquiring hand action information of a user, which is acquired by an action acquisition device; generating movement control information according to the hand action information so as to control a moving clamping unit to drive the manipulator to move; and controlling a limiting unit to drive the manipulator to position according to positioning information input by a user.

As an improvement of the above scheme, the hand motion information includes full fist making information, five finger opening information, index finger independent opening information, index finger and middle finger simultaneous opening information, thumb independent opening information, thumb and tail finger simultaneous opening information, and upper arm and lower arm angle information, the first movable clamping arm and the second movable clamping arm each include a clamping claw assembly, a first telescopic section, a rotary telescopic driving mechanism, and a second telescopic section that are connected in sequence, the clamping claw assembly includes a clamping claw and a clamping claw driving mechanism, and the method for generating the movement control information according to the hand motion information includes: converting the full fist making information into grasping information of the clamping jaws; converting the five-finger opening information into loosening information of the clamping claw; converting the index finger single opening information into the extension information of the first telescopic section; converting the simultaneous opening information of the index finger and the middle finger into the extension information of the second telescopic section; converting the thumb individual opening information into the contraction information of the first telescopic section; converting the simultaneous opening information of the thumb and the tail finger into contraction information of the second telescopic section; and converting the angle information between the upper arm and the lower arm into the angle information between the first telescopic section and the second telescopic section.

As an improvement of the above, the control method further includes: identifying an obstacle object in the local video image; determining a target mobile node according to the moving range of the manipulator and the position information of the obstacle; constructing a corresponding mobile reference path according to the target mobile node, wherein no obstacle exists in the mobile reference path; displaying the moving reference path in the local video image.

As an improvement of the above scheme, the manipulator further includes a sawing unit, the movable limiting arm includes a movable limiting arm body, an elastic connecting seat, a movable sleeve, a hinged seat, a second limiting claw, an elastic driving mechanism and a second limiting driving mechanism, and the control method further includes: controlling a sawing unit to saw a target object according to the sawing information input by the user; when the sawing unit finishes sawing, the second limiting driving mechanism is controlled to drive the movable limiting arm to release the target object, and meanwhile, the elastic driving mechanism is controlled to drive the movable limiting arm to push the target object.

As an improvement of the above scheme, the manipulator system further includes a lifting device and a detection device, the manipulator is detachably disposed on the lifting device, and the control method further includes: arranging the manipulator on the lifting device; driving a lifting device to ascend to carry the manipulator, wherein in the ascending process of the lifting device: when the information of the obstacle object collected by the detection equipment is not acquired, controlling the lifting device to keep in a lifting state; and when the information of the obstacle object acquired by the detection equipment is acquired, controlling the lifting device to stop in a lifting state.

The implementation of the invention has the following beneficial effects:

the manipulator system combines the manipulator, the unmanned aerial vehicle, the action acquisition device and the control device to form a manipulator system with unique functions, can realize effective control of the manipulator, and has strong flexibility. The manipulator can be composed of a limiting unit, a camera shooting device and a movable clamping unit, all the parts of the structure are respectively matched with the action acquisition device and the control device, seamless control of the moving and positioning functions can be achieved, and the corresponding function can be achieved conveniently.

The invention can provide remote scene observation for users by means of the combination of the global video image and the local video image; meanwhile, the moving and positioning control of the manipulator is realized by means of an induction technology, so that the inspection and the targeted video inspection of the strip-shaped structure body are facilitated;

furthermore, the invention also introduces a path planning algorithm to accurately realize path planning, greatly facilitates the actual operation of the user and improves the user experience; the sawed target object is toppled along a specific direction by controlling the second limit driving mechanism and the elastic driving mechanism, so that the safety of the manipulator can be effectively ensured, and the practicability is strong; the obstacle on the ascending path of the lifting device is monitored in real time through the application of the detection equipment, so that the collision between the obstacle and the lifting device and the manipulator is avoided, and the safety of the lifting device and the manipulator is ensured; still through check out test set's monitoring, transport the manipulator furthest to the safety that is closest to the target object external, the manipulator of being convenient for carries out follow-up removal, promotes and patrols and examines efficiency.

Drawings

FIG. 1 is a schematic diagram of the construction of the robot system of the present invention;

FIG. 2 is a schematic structural diagram of a first embodiment of a manipulator in the manipulator system of the present invention;

FIG. 3 is a cross-sectional view of a movable check arm in the robot system of the present invention;

fig. 4 is a schematic structural diagram of a robot in the robot system according to the second embodiment of the present invention;

FIG. 5 is a cross-sectional view of the resilient connecting socket in the robot system of the present invention;

FIG. 6 is a perspective view of a resilient connecting socket in the robot system of the present invention;

FIG. 7 is a schematic view of the construction of the lift device in the robot system of the present invention;

fig. 8 is a flowchart of a first embodiment of a control method of a robot system of the present invention;

fig. 9 is a flowchart of a second embodiment of a control method of the manipulator system of the invention;

fig. 10 is a flowchart of a control method of the robot system of the present invention according to the third embodiment;

fig. 11 is a flowchart of a fourth embodiment of a control method of a robot system of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It is only noted that the invention is intended to be limited to the specific forms set forth herein, including any reference to the drawings, as well as any other specific forms of embodiments of the invention.

Referring to fig. 1, fig. 1 shows a specific structure of a manipulator system 100 of the present invention, which includes an unmanned aerial vehicle 1, an action collecting device 2, a manipulator 3 and a control device 4, wherein the unmanned aerial vehicle 1, the action collecting device 2 and the manipulator 3 are all connected with the control device 4 in a wireless manner. Specifically, the method comprises the following steps:

the unmanned aerial vehicle 1 is used for acquiring a global video image of a target object;

the action acquisition device 2 is used for acquiring the hand action information of the user;

the manipulator 3 comprises a limiting unit 31, a camera device and a movable clamping unit 32 (see fig. 2), the limiting unit 31 comprises a fixed limiting arm 31a and a movable limiting arm 31b for fixing a target object, the camera device is arranged between the fixed limiting arm 31a and the movable limiting arm 31b and is used for collecting local video images on a movable path of the manipulator 3, the movable clamping unit 32 comprises a first movable clamping arm 32a and a second movable clamping arm 32b which are arranged on two sides of the limiting unit 31 and are used for rotating, stretching, grasping and releasing operations, and sensors are arranged on contact surfaces of the fixed limiting arm 31a, the movable limiting arm 31b, the first movable clamping arm 32a and the second movable clamping arm 32b and the target object;

the control device 4 includes a tracking unit for tracking the marking manipulator 3 and the target object in the global video image according to the marking information input by the user, a display unit for displaying a local video image, and a control unit for controlling the manipulator 3 to move the manipulator 3 according to the hand motion information.

When the unmanned aerial vehicle works, the unmanned aerial vehicle 1 collects the global video image of the target object in real time and sends the global video image to the control device 4 for displaying; then, the user can input the marking information (i.e., the marking robot and the target object) in the global video image through the control device 4; then, the control device 4 tracks the marking manipulator 3 and the target object in the global video image through the tracking unit according to the marking information input by the user, so that the user can observe the manipulator and the target object in real time; meanwhile, the camera device on the manipulator 3 collects local video images on the movable path of the manipulator in real time and sends the local video images to the control device for display; then, the user can observe the local video image in real time through the display unit, so that the movement action is simulated through hand movement, and the action acquisition device 2 sends the corresponding hand action information to the control device 4; finally, the control unit of the control device 4 controls the manipulator 3 to move the manipulator 3 based on the hand operation information.

The movement of the robot 3 mainly includes a moving operation and a fixing operation. The moving action is implemented by the moving clamping unit 32, and in the moving process, the moving action of a user can be simulated through the rotation, expansion, contraction, grasping and releasing operations of the first moving clamping arm 32a and the second moving clamping arm 32 b; the fixing operation is performed by the position limiting unit 31, and when the target object is fixed, the target object can be fixed by the fixed position limiting arm 31a and the movable position limiting arm 31b, so that the first movable clamping arm 32a and the second movable clamping arm 32b can move safely. Accordingly, the sensors disposed on the contact surfaces of the fixed limiting arm 31a, the movable limiting arm 31b, the first movable clamping arm 32a and the second movable clamping arm 32b and the target object can detect in real time whether the movement and positioning actions of the fixed limiting arm 31a, the movable limiting arm 31b, the first movable clamping arm 32a and the second movable clamping arm 32b are in place, so as to determine whether to perform the next action, and the safety is higher.

Further, the control device 4 further includes a path planning unit, where the path planning unit is configured to identify an obstacle object in the local video image, determine a target mobile node according to the movement range of the manipulator 3 and the position information of the obstacle object, construct a corresponding movement reference path according to the target mobile node, and display the movement reference path in the local video image, where no obstacle object exists in the movement reference path.

It should be noted that, the internal structure of a bar-shaped structure (such as a tree, a large steel structure frame, etc.) is often complex, and a user cannot quickly determine the moving path of the manipulator simply by watching a local video image. Therefore, the path planning algorithm can be adopted to bypass the obstacle between the manipulator and the target object and smoothly reach the position corresponding to the target object.

Correspondingly, when there are many obstacles between the manipulator 3 and the target object and the manipulator 3 cannot directly move to the target object, one obstacle between the manipulator 3 and the target object can be selected as a target mobile node by constructing a target mobile node, and a path relation between the manipulator 3 and the target object is quickly constructed through the relay action of the target mobile node.

As shown in fig. 2, each of the first movable clamping arm 32a and the second movable clamping arm 32b includes a clamping claw assembly, a first telescopic section 321, a rotary telescopic driving mechanism, and a second telescopic section 322, which are connected in sequence; the rotary telescopic driving mechanism is connected with the control unit and is used for driving the first telescopic section 321 to swing relative to the second telescopic section 322 and driving the first telescopic section 321 and the second telescopic section 322 to perform telescopic operation; the clamping jaw assembly comprises a clamping jaw 323 and a clamping jaw driving mechanism, and the clamping jaw driving mechanism is connected with the control unit and used for driving the clamping jaw 323 to carry out grasping and releasing operations.

Preferably, a rotating motor is arranged at the connection position of the second telescopic section 322 and the limiting unit 31, and the rotating motor is used for driving the second telescopic section 322 to rotate; the first telescopic section 321 and the second telescopic section 322 are both formed by electric hydraulic push rods, and the rotary telescopic driving mechanism can be a servo motor; the integration level of electro-hydraulic push rod is high, and is small, and strength is big, and servo motor can the accurate control rotation angle, is convenient for control the control of contained angle between first flexible section 321 and the flexible section 322 of second. Meanwhile, the clamping jaw driving mechanism can be a screw rod mechanism, but is not limited to the screw rod mechanism, the screw rod mechanism and the clamping jaw are integrally arranged on a rotating shaft of the rotating motor, and the screw rod mechanism and the clamping jaw are driven to integrally rotate through the rotating shaft of the rotating motor.

As shown in fig. 2 and 3, the fixed stopper arm 31a and the movable stopper arm 31b are connected to each other by a connecting member 33. Specifically, the method comprises the following steps:

the front end of the fixed limiting arm 31a is provided with a first limiting claw 311 and a first limiting driving mechanism, and the first limiting driving mechanism is used for driving the first limiting claw 311 to grasp and loosen.

The movable limiting arm 31b comprises a movable limiting arm body 312, an elastic connecting seat 313, a movable sleeve 314, a hinged seat 315, a second limiting claw 316, an elastic driving mechanism and a second limiting driving mechanism; the elastic connecting seat 313 is connected to the front end of the movable limiting arm body 312 through a spring set 317, a snap ring 313c is arranged on the outer side of the elastic connecting seat 313, the movable sleeve 314 is provided with a buckle 314c matched with the snap ring 313c and sleeved on the outer sides of the elastic connecting seat 313 and the movable limiting arm body 312, the elastic driving mechanism is used for driving the movable sleeve 314 to move, and the movable sleeve 314 can move by itself to drive the elastic connecting seat 313 to move towards the movable limiting arm body 312; the hinge base 315 is hinged to the elastic connection base 313, the second limiting claw 316 is disposed at the front end of the hinge base 315, and the second limiting driving mechanism is used for driving the second limiting claw 316 to grasp and release.

With the present embodiment, the target object can be alternately gripped by the first movable clamp arm 32a and the second movable clamp arm 32b, and the entire movement of the manipulator can be realized. After reaching the predetermined position, the first movable clamp arm 32a and the second movable clamp arm 32b move the position limiting unit 31 to the target object, fix the target object, and complete the moving operation. The manipulator adopts the design of two movable clamping arms, can flexibly move upwards, is slightly hindered, and is convenient to operate in a strip-shaped structure body. Meanwhile, the fixed limiting arm 31a and the movable limiting arm 31b fix the target object for the second time, so that the moving stability in the moving process is prevented.

Preferably, the connecting member 33 includes a connecting sleeve 33a connected with the fixed limiting arm 31a, and a telescopic beam 33b connected with the movable limiting arm 31b, and the telescopic beam 33b is sleeved in the connecting sleeve 33 a; an electric push rod for driving the telescopic beam 33b to extend and retract relative to the connecting sleeve 33a is further arranged in the connecting sleeve 33 a. Under the driving of the electric push rod, the telescopic beam 33b can be telescopic relative to the connecting sleeve 33a, so that the distance between the fixed limiting arm 31a and the movable limiting arm 31b is controlled, and the target object is conveniently limited and fixed according to the shape and the position of the target object before being clamped.

In practical application, can be applied to patrolling and examining of large-scale steel structural framework with the manipulator, through camera equipment low coverage ground local video image collection to make things convenient for the long-range circumstances such as whether crack, screw are not hard up to see the junction of steel construction that looks over of maintainer. Meanwhile, the manipulator can be applied to pruning of trees.

Accordingly, a sawing unit can be provided on the robot 3 for tree trimming. As shown in fig. 4, the sawing unit is provided between the fixed and

movable stopper arms

31a and 31b for sawing the target object. In particular, the sawing unit comprises a feed mechanism for driving the electric felling saw 34 to oscillate at a predetermined speed and an electric felling saw 34. The feed mechanism may be a gear motor that drives the electric feller saw 34 downward at an angular speed.

When the manipulator 3 is provided with a sawing unit, the manipulator 3 has a sawing function and can be applied to tree branch sawing. In the sawing process, the first limiting claw 311 is used for fixing the sawn branches; with the present embodiment, the target object can be alternately gripped by the first movable clamp arm 32a and the second movable clamp arm 32b, and the entire movement of the manipulator can be realized. After the target object reaches the preset position, the limiting unit is moved to the target object through the first movable clamping arm 32a and the second movable clamping arm 32b and is fixed, and then the tree branches or the tree trunks are sawn off through the sawing unit, so that the tree branch sawing operation is completed.

Before the branch is sawed, saw cut the position quilt spacing unit 31 is fixed, can saw the growth condition of back again and will release the branch at the branch completely according to the branch to the whereabouts position and the whereabouts gesture of accurate control branch avoid the crown swing whereabouts process of branch directly to touch the electric wire netting, or because with other branches collision and make other branch touch electric wire netting, promote the operational safety.

As shown in fig. 5 and 6, in order to realize more precise control of the falling position and the falling posture of the felled tree branches, a first sliding rod 315a and a second sliding rod 315b are arranged at two sides of the hinge base 315, a first sliding slot 313a and a second sliding slot 313b are arranged on the inner side surface of the elastic connecting base 313, the end of the first sliding rod 315a is positioned in the first sliding slot 313a and can slide in the first sliding slot 313a, the end of the second sliding rod 315b is positioned in the second sliding slot 313b and can slide in the second sliding slot 313b, and a return spring for driving the first sliding rod 315a to return is further arranged in the first sliding slot 313 a. Preferably, the first chute 313a is horizontally disposed; the second sliding groove 313b includes a horizontal guide section and an arc guide section, the horizontal guide section is horizontally disposed, and the arc guide section is connected with the end of the horizontal guide section and is respectively disposed symmetrically upward and downward.

In an initial state, under the thrust action of the return spring, the first sliding rod 315a and the second sliding rod 315b are correspondingly positioned at the left sides of the first sliding groove 313a and the second sliding groove 313b, and at this time, the horizontal guide sections of the first sliding groove 313a and the second sliding groove 313b are matched to limit the upward and downward swinging of the hinge base 315 relative to the elastic connection base 313.

Referring to fig. 3, in order to directionally throw out the cut branches, the invention designs a unique throwing mechanism. Specifically, a rack 314a is arranged on the inner side of the movable sleeve 314, the rack 314a is meshed with a pre-tightening gear 314b, and the pre-tightening gear 314b is connected with a pre-tightening motor. The outer surface of the movable limiting arm 31b is further provided with a first limiting ring, the first limiting ring is abutted to the inner wall of the movable sleeve 314, the inner side of the movable sleeve 314 is further provided with a second limiting ring, and the second limiting ring can be abutted to the first limiting ring to limit the maximum stroke of the movable sleeve 314. After the branches are cut off, the cut branches are clamped and fixed by the second limiting claws 316, so that the branches still keep the original state; at the moment, the pre-tightening motor rotates, the movable sleeve 314 is driven by the pre-tightening gear 314b and the rack 314a to press the elastic connecting seat 313 tightly, then the pre-tightening gear 314b rotates to the position of missing teeth, or the pretension motor cancels the driving force of the pretension motor on the pretension gear 314b, so that the elastic connecting seat 313 is ejected towards the direction far away from the movable limiting arm body 312 under the action of the elastic force of the spring group 317, the first and second sliding

bars

315a and 315b of the hinge base 315 move along the first and second sliding

grooves

313a and 313b by the elastic force, the end parts of the tree branches are thrown obliquely downwards under the guiding action of the first sliding chute 313a and the second sliding chute 313b, the tree branches fall in a nearly vertical mode, and the process that the crown part swings downwards and falls is avoided, the cut branches are not easy to contact with the power grid, the tree cutting operators can be protected, and the damage to the power grid caused by tree cutting can be avoided.

The working principle of the manipulator applied to the scene of cutting trees is explained in detail by combining the following specific steps:

and S1, manually lifting the manipulator 3 or delivering the manipulator to a certain height of the target tree through other equipment.

S2, the motion acquisition means 2 acquires the hand motion information of the user to control the motions of the first and second

movable clamp arms

32a and 32b, and the robot 3 is moved to a predetermined position. For example, the second telescopic section 322 is controlled to rotate by a rotating motor, so as to control the orientation of the first telescopic section 321; the size of an included angle between the first telescopic section 321 and the second telescopic section 322 is controlled by rotating the telescopic driving mechanism, and meanwhile, the clamping claws on the first movable clamping arm 32a and the second movable clamping arm 32b can be moved to any position of a three-dimensional space within a preset radius by matching with the telescopic actions of the first telescopic section 321 and the second telescopic section 322, then branches are clamped by the clamping claws 323 to be used as a fulcrum for the movement of the manipulator 3, when another clamping claw clamps branches at another position, the original clamping claw is loosened, the clamping claw is moved to the branches in a target direction, and the alternation is realized, so that the movement action is realized.

S3, when the manipulator 3 moves to the vicinity of the target branch, two or a single clamping claw grasp the target branch, or the branch near the target branch, and the limiting unit 31 is driven to move to the target branch by using the clamping claw or the branch as a fulcrum, and the first limiting claw 311 and the second limiting claw 316 grasp both sides of the position where the target branch is to be felled. Since the elastic connection seat 313 is connected to the front end of the movable position-limiting arm body 312 through the spring assembly 317, the first position-limiting claw 311 and the second position-limiting claw 326 can allow a certain positional deviation to adapt to the natural growth form of the tree branches.

S4, the pre-tightening motor drives the pre-tightening gear 314b to rotate, the movable sleeve 314 is pulled back, the elastic connecting seat 313 and the movable limiting arm 31b are slightly pressed, and at the moment, the elastic connecting seat 313 and the movable limiting arm 31b have high rigidity, so that branches can be fixed in the sawing process.

And S5, the electric felling saw cuts downwards until the branches are completely cut off.

S6, after the branches are sawn off, the fixed limiting arm 31a continuously grabs the branches close to one side of the trunk; the movable limit arm 31b grasps the cut branch and keeps it still for a short time. The pre-tightening motor drives the pre-tightening gear 314b to rotate, the movable sleeve 314 is pulled back, the elastic connecting seat 313 and the movable limiting arm 31b are further pressed, then the pre-tightening gear 314b rotates to the tooth missing position, or the pre-tightening motor cancels the driving force of the pre-tightening gear 314b, so that the elastic connecting seat 313 is ejected away from the movable limiting arm body 312 under the elastic action of the spring set, the first sliding rod 315a and the second sliding rod 315b of the hinged seat 315 move along the first sliding groove 313a and the second sliding groove 313b under the elastic action, and the hinged seat 315 drives the sawn-off section of the tree branch to translate through the horizontal sections of the first sliding groove 313a and the second sliding groove 313 b; when the second sliding rod 315b of the hinge base 315 reaches the arc-shaped guide section, the hinge base 315 correspondingly turns downward or upward, and the second limiting claw 316 loosens the branches to throw the end of the branches obliquely downward, so that the branches fall in a manner close to vertical, the influence of the falling process of the branches on the periphery is reduced, and the safety is improved.

S7, the fixed limiting arm 31a is loosened, the first movable clamping arm 32a and the second movable clamping arm 32b move the limiting unit 31 to another branch to be felled, and the steps S3 to S6 are repeated until all branches affecting the power supply circuit of the tree are completely felled.

Therefore, when the electric power transmission device is applied to the tree cutting operation, the mechanical arm 3 can effectively realize the electric power guarantee obstacle clearing work, and part of branches of the tree which possibly influences the power transmission safety is cut off. For cutting down trees from the trunk is whole, this equipment can be cut down the branch that corresponds the position pertinence ground, and the cutting degree of difficulty is lower, can reduce the volume, improves the portability. In addition, only the branches at the high altitude, which may affect one side of the power transmission line, of the big tree are cut off, so that the health of the tree can be ensured to the maximum extent, which is particularly important for protecting the old trees, and the trees can be prevented from being killed due to the fact that the branches of the tree are cut down too much. Simultaneously, this equipment can avoid accidental touching high-voltage line and threaten personnel's life safety at the felling in-process through personnel through wireless mode remote control.

As shown in fig. 7, the manipulator system further includes a lifting device 5 and a detection device; the manipulator 3 is detachably arranged on the lifting device 5, and the lifting device 5 is used for lifting the manipulator 3; the detection equipment is arranged between the fixed limiting arm 31a and the movable limiting arm 31b and is used for detecting the information of the obstacle in a preset range; the control device 4 further comprises a lifting unit for driving the lifting device 5 according to the obstacle object information.

Specifically, the lifting device 5 comprises a first ring body 51 and a second ring body 52 which are arranged up and down symmetrically, and the first ring body 51 and the second ring body 52 are connected through a connecting rod 53; the inner sides of the first ring body 51 and the second ring body 52 are respectively provided with an auxiliary wheel set 54 which is distributed circumferentially and extends towards the center direction of the first ring body and the second ring body; a moving motor 55 is arranged on the connecting rod 53, and the moving motor 55 is connected with a moving wheel 56; the moving wheel 56 has a preset inclination; the first ring body 51 and the second ring body 52 are both formed by hinging a left half ring body and a right half ring body; the left half ring body and the right half ring body are connected with a tensioning cylinder.

This elevating gear 5 can transfer target object's take the altitude department with manipulator 3, removes and fell work by manipulator 3 again, and it is less to have remedied the trunk branch that partial tree kind is close ground, is difficult to the defect that removes, can deliver to take the altitude with above-mentioned manipulator fast, has also removed the comparatively complicated mobile control process of anterior segment from, improves fell efficiency.

Preferably, one end of the tensioning cylinder is hinged to the left half ring body or the right half ring body, and the other end of the tensioning cylinder is connected with the corresponding left half ring body or the right half ring body through a quick-connection bolt.

Correspondingly, the working principle of applying the lifting device 5 to the tree climbing process is as follows:

and (3) pulling out the quick-connection bolt, loosening the tensioning cylinder, opening the left half ring body and the right half ring body of the first ring body 51 and the second ring body 52, and sleeving the tree trunks.

Through the bolt that connects soon with taut cylinder and left hemicycle body and right hemicycle body coupling, taut cylinder contracts back, tightens up left hemicycle body and right hemicycle body, and auxiliary wheel group 54 and trunk circumference butt this moment provide the clamping-force to this elevating gear 5. At this time, the moving wheel 56 is also in contact with the trunk, and since it is at an angle to the trunk, when the moving motor 55 drives the moving wheel 56 to rotate, the moving wheel 56 will spiral up along the trunk.

When reaching the position with more branches, the manipulator 3 is separated from the lifting device 5 and moves upwards independently. The moving and felling process can be referred to the first embodiment.

After the felling is completed, the manipulator 3 falls into the lifting device 5 again, the lifting device 5 drives the manipulator 3 to descend, and the manipulator is manually moved out of the trunk when the manipulator reaches the position near the ground to fell on the next tree.

Referring to fig. 8, fig. 8 is a flowchart showing a control method of a robot system according to a first embodiment of the present invention, including:

s101, acquiring a global video image of a target object acquired by the unmanned aerial vehicle in real time, and displaying the global video image.

When the inspection tour is needed to be carried out on the target object, the global video image of the target object can be collected through the unmanned aerial vehicle, so that the target object can be observed in an all-round manner. Preferably, the target object may be a tree, a large steel structure frame, or the like, but is not limited thereto as long as the target object is composed of a strip structure.

S102, acquiring the mark information input by the user.

And S103, tracking the positions of the marking manipulator and the target object in the global video image according to the marking information.

The invention adopts the image tracking technology to track the manipulator and the target object in the global video image, thereby facilitating the user to observe the manipulator and the target object in a long distance. Meanwhile, the distance between the target object and the manipulator can be further predicted, and reference data are provided for subsequent processing.

For example, when the distance between the manipulator and the target object is only 50cm and no shielding obstacle exists between the manipulator and the target object, the manipulator can reach the position of the target object directly through the moving action of the manipulator;

for another example, when the distance between the manipulator and the target object is about 5m and there is no shielding obstacle between the manipulator and the target object, the manipulator may be lifted to a specific position by other devices to reduce the distance between the manipulator and the target object.

Therefore, the invention can be globally controlled in a large range by the unmanned aerial vehicle and the image tracking technology, and is convenient for remote operation.

And S104, acquiring a local video image on the movable path of the manipulator acquired by the camera equipment, and displaying the local video image.

Correspondingly, still be equipped with camera equipment on the manipulator, can carry out the collection of local video image to the current portable scope of manipulator through camera equipment, make user's vision and manipulator vision combine together, have extremely strong substitution and feel, convenience of customers carries out accurate mobility control to the manipulator to local video image.

And S105, acquiring the hand motion information of the user, which is acquired by the motion acquisition device.

It should be noted that the present invention adopts sensing technology to collect the hand motion information of the user. Specifically, sensors can be respectively arranged on a thumb, an index finger, a middle finger, a ring finger, a tail finger, a lower arm and an upper arm of the user, and the hand motion information of the user can be determined through position signals acquired by the sensors. Specifically, the hand motion information may include full fist making information, five finger opening information, index finger independent opening information, index finger and middle finger simultaneous opening information, thumb independent opening information, thumb and tail finger simultaneous opening information, and upper arm and lower arm angle information.

And S106, generating movement control information according to the hand action information so as to control the moving clamping unit to drive the manipulator to move.

As shown in fig. 2, the first movable clamping arm 32a and the second movable clamping arm 32b of the present invention each include a clamping jaw assembly, a first telescopic section 321, a rotary telescopic driving mechanism, and a second telescopic section 322, which are connected in sequence, and the clamping jaw assembly includes a clamping jaw 323 and a clamping jaw driving mechanism. The rotary telescopic driving mechanism is used for driving the first telescopic section 321 to swing relative to the second telescopic section 322 and driving the first telescopic section 321 and the second telescopic section 322 to perform telescopic operation, and the clamping claw driving mechanism is used for driving the clamping claw 323 to perform grasping and releasing operation.

Accordingly, the method of generating the movement control information from the hand motion information is as follows:

(1) converting the full fist making information into grasping information of the clamping claw;

(2) converting the five-finger opening information into the loosening information of the clamping claw;

(3) converting the single opening information of the index finger into the extension information of the first telescopic section;

(4) converting the simultaneous opening information of the index finger and the middle finger into the extension information of the second telescopic section;

(5) converting the independent opening information of the thumb into the contraction information of the first telescopic section;

(6) simultaneously converting the opening information of the thumb and the tail finger into the contraction information of the second telescopic section;

(7) the angle information between the upper arm and the lower arm is converted into the angle information between the first telescopic section and the second telescopic section.

Therefore, the manipulator can accurately simulate the hand action of the user through the conversion of the hand action information, thereby completing the moving operation.

And S107, controlling the limiting unit to drive the manipulator to position according to the positioning information input by the user.

As shown in fig. 3, after the manipulator 3 climbs in place, the fixed limiting arm 31a and the movable limiting arm 31b of the manipulator 3 can be controlled by the positioning information to simultaneously grip the target object for positioning operation, so as to further ensure the safety of the manipulator 3, thereby providing safety guarantee for inspection operation or next moving operation.

Therefore, the invention can provide remote scene observation for the user by combining the global video image and the local video image; meanwhile, the moving and positioning control of the manipulator is realized by means of an induction technology, and the strip-shaped structural body (such as a tree, a large steel structure frame and the like) is convenient to patrol and perform targeted video inspection.

Referring to fig. 9, fig. 9 is a flowchart showing a control method of a robot system according to a second embodiment of the present invention, including:

s201, acquiring a global video image of a target object acquired by the unmanned aerial vehicle in real time, and displaying the global video image.

S202, acquiring the mark information input by the user.

And S203, tracking the positions of the marking manipulator and the target object in the global video image according to the marking information.

And S204, acquiring a local video image on the movable path of the manipulator acquired by the camera equipment, and displaying the local video image.

And S205, identifying the obstacle in the local video image.

It should be noted that, the internal structure of a bar-shaped structure (such as a tree, a large steel structure frame, etc.) is often complex, and a user cannot quickly determine the moving path of the manipulator simply by watching a local video image. Unlike the first embodiment illustrated in fig. 8, in this embodiment, a path planning algorithm may be used to bypass an obstacle between the manipulator and the target object and smoothly reach the position corresponding to the target object.

And S206, determining a target mobile node according to the movement range of the manipulator and the position information of the obstacle.

It should be noted that, when there are many obstacles between the manipulator and the target object and the manipulator cannot directly move to the target object, one obstacle between the manipulator and the target object may be selected as a target mobile node by means of constructing a target mobile node, and a path relation between the manipulator and the target object is quickly constructed through a relay action of the target mobile node.

And S207, constructing a corresponding mobile reference path according to the target mobile node, wherein no obstacle exists in the mobile reference path.

For example, when the manipulator and the target object can move directly, the movement reference path is a straight line, and no obstacle exists in the movement reference path;

for another example, when the robot and the target object need to be transferred through the target mobile node a and the target mobile node B, the movement reference path is a polygonal line, and there are no other obstacle objects in the paths of the robot-target mobile node a, the target mobile node a-target mobile node B, and the target mobile node B-target object.

And S208, displaying the moving reference path in the local video image.

It should be noted that the movement reference path is used as a reference path to effectively guide the user to perform movement control according to the movement reference path, and the reasonableness is stronger. However, the user may move according to his or her own habits.

And S209, acquiring the hand motion information of the user collected by the motion collection device.

And S210, generating movement control information according to the hand motion information so as to control the moving clamping unit to drive the manipulator to move.

And S211, controlling the limiting unit to drive the manipulator to position according to the positioning information input by the user.

Therefore, the invention introduces the path planning algorithm, realizes the path planning accurately, greatly facilitates the actual operation of the user and improves the user experience.

Referring to fig. 10, fig. 10 is a flowchart showing a control method of a robot system according to a third embodiment of the present invention, including:

s301, acquiring a global video image of the target object acquired by the unmanned aerial vehicle in real time, and displaying the global video image.

S302, the mark information input by the user is obtained.

And S303, tracking the positions of the marking manipulator and the target object in the global video image according to the marking information.

And S304, acquiring a local video image on the movable path of the manipulator acquired by the camera equipment, and displaying the local video image.

And S305, acquiring the hand motion information of the user, which is acquired by the motion acquisition device.

And S306, generating movement control information according to the hand action information so as to control the moving clamping unit to drive the manipulator to move.

And S307, controlling the limiting unit to drive the manipulator to position according to the positioning information input by the user.

And S308, controlling the sawing unit to saw the target object according to the sawing information input by the user.

In this embodiment, the manipulator may be applied to tree trimming. As shown in fig. 3-6, in order to implement the trimming function, a sawing unit may be disposed on the manipulator, and the movable limiting arm 31b includes a movable limiting arm body 312, an elastic connection seat 313, a movable sleeve 314, a hinge seat 315, a second limiting claw 316, an elastic driving mechanism and a second limiting driving mechanism.

When the fixed limiting arm 31a and the movable limiting arm 31b of the manipulator 3 simultaneously grasp the target object to be sawn, the target object can be sawn by the sawing unit, and the operation is convenient.

S309, when the sawing unit finishes sawing, controlling the second limit driving mechanism to drive the movable limit arm to release the target object, and simultaneously controlling the elastic driving mechanism to drive the movable limit arm to push the target object.

It should be noted that, by the simultaneous action of the second limit driving mechanism and the elastic driving mechanism, the sawn target object can be released and pushed along a certain angle, so that the target object is separated along a specific direction and cannot fall to the manipulator, and the safe use of the manipulator is ensured.

Therefore, the cutting machine combines the mechanical arm with a unique structure, so that the cutting function is smoothly realized, the safety of the mechanical arm is effectively ensured, and the practicability is extremely strong.

Referring to fig. 11, fig. 11 is a flowchart showing a fourth embodiment of the control method of the robot system of the present invention, which includes:

s401, acquiring a global video image of a target object acquired by the unmanned aerial vehicle in real time, and displaying the global video image.

S402, acquiring the mark information input by the user.

And S403, tracking the positions of the marking manipulator and the target object in the global video image according to the marking information.

And S404, arranging the manipulator on the lifting device.

It should be noted that, when the distance between the manipulator and the target object is about 5m and there is no shielding obstacle between the manipulator and the target object, the manipulator may be lifted to a specific position by other devices to reduce the distance between the manipulator and the target object.

Correspondingly, in this embodiment, the manipulator system further includes a lifting device 5 (see fig. 7) and a detection device, and the manipulator is detachably disposed on the lifting device.

S405, driving the lifting device to ascend so as to carry the manipulator, wherein the lifting device ascends: when the information of the obstacle object collected by the detection equipment is not acquired, controlling the lifting device to keep in a lifting state; and when the information of the obstacle object acquired by the detection equipment is acquired, controlling the lifting device to stop in a lifting state.

Through the application of the detection equipment, the obstacles on the ascending path of the lifting device can be monitored in real time, the obstacles are prevented from colliding with the lifting device and the manipulator, and the safety of the lifting device and the manipulator is ensured. Simultaneously, through check out test set's monitoring, can transport the manipulator furthest to the safety that is closest to the target object external, the manipulator of being convenient for carries out follow-up removal, promotes and patrols and examines efficiency.

And S406, acquiring a local video image on the movable path of the manipulator acquired by the camera equipment, and displaying the local video image.

And S407, acquiring the hand motion information of the user, which is acquired by the motion acquisition device.

And S408, generating movement control information according to the hand motion information so as to control the moving clamping unit to drive the manipulator to move.

And S409, controlling the limiting unit to drive the manipulator to position according to the positioning information input by the user.

Therefore, the invention can improve the inspection efficiency to the maximum limit and ensure the inspection safety by arranging the lifting device.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. A manipulator system is characterized by comprising an unmanned aerial vehicle, an action acquisition device, a manipulator and a control device, wherein the unmanned aerial vehicle, the action acquisition device and the manipulator are all connected with the control device in a wireless mode;

the unmanned aerial vehicle is used for acquiring a global video image of a target object;

the motion acquisition device is used for acquiring the hand motion information of the user;

the manipulator comprises a limiting unit, a camera device and a movable clamping unit, wherein the limiting unit comprises a fixed limiting arm and a movable limiting arm which are used for fixing a target object, the camera device is arranged between the fixed limiting arm and the movable limiting arm and is used for collecting local video images on a movable path of the manipulator, the movable clamping unit comprises a first movable clamping arm and a second movable clamping arm which are arranged on two sides of the limiting unit and are used for rotating, stretching, grasping and releasing, and sensors are arranged on contact surfaces of the fixed limiting arm, the movable limiting arm, the first movable clamping arm and the second movable clamping arm and the target object;

the control device comprises a tracking unit, a display unit and a control unit, wherein the tracking unit is used for tracking and marking the manipulator and a target object in the global video image according to marking information input by a user, the display unit is used for displaying the local video image, and the control unit is used for controlling the manipulator according to the hand action information so as to drive the manipulator to move.

2. The manipulator system according to claim 1, wherein the control device further includes a path planning unit configured to identify an obstacle in the partial video image, determine a target mobile node according to a movement range of the manipulator and position information of the obstacle, construct a corresponding movement reference path according to the target mobile node, and display the movement reference path in the partial video image, the movement reference path being free of the obstacle.

3. The manipulator system of claim 2, wherein the hand motion information comprises full fist making information, five finger opening information, index finger single opening information, index and middle finger simultaneous opening information, thumb single opening information, thumb and tail finger simultaneous opening information, and upper and lower arm angle information.

4. The robot system of claim 1, wherein the first and second movable clamp arms each comprise a clamp jaw assembly, a first telescoping section, a rotary telescoping drive mechanism, and a second telescoping section connected in series;

the rotary telescopic driving mechanism is connected with the control unit and used for driving the first telescopic section to swing relative to the second telescopic section and driving the first telescopic section and the second telescopic section to perform telescopic operation;

the clamping jaw assembly comprises a clamping jaw and a clamping jaw driving mechanism, and the clamping jaw driving mechanism is connected with the control unit and used for driving the clamping jaw to perform clamping and loosening operations.

5. The manipulator system according to claim 1, wherein a first position-limiting claw and a first position-limiting driving mechanism are provided at a front end of the fixed position-limiting arm, and the first position-limiting driving mechanism is used for driving the first position-limiting claw to perform grasping and releasing operations;

the movable limiting arm comprises a movable limiting arm body, an elastic connecting seat, a movable sleeve, a hinging seat, a second limiting claw, an elastic driving mechanism and a second limiting driving mechanism;

the elastic connecting seat is connected to the front end of the movable limiting arm body through a spring set, a snap ring is arranged on the outer side of the elastic connecting seat, a buckle matched with the snap ring is movably sleeved on the movable sleeve and is sleeved on the outer sides of the elastic connecting seat and the movable limiting arm body, the elastic driving mechanism is used for driving the movable sleeve to move, and the movable sleeve can drive the elastic connecting seat to move towards the movable limiting arm body through self movement;

the hinge base is hinged to the elastic connecting base, the second limiting claw is arranged at the front end of the hinge base, and the second limiting driving mechanism is used for driving the second limiting claw to grasp and loosen.

6. The robot system of claim 5, wherein the robot further comprises a sawing unit disposed between the fixed and movable spacing arms for sawing a target object;

a first sliding rod and a second sliding rod are arranged on two sides of the hinged base, a first sliding groove and a second sliding groove are formed in the inner side face of the elastic connecting base, the end portion of the first sliding rod is located in the first sliding groove and can slide in the first sliding groove, the end portion of the second sliding rod is located in the second sliding groove and can slide in the second sliding groove, and a reset spring used for driving the first sliding rod to reset is further arranged in the first sliding groove;

the first sliding groove is horizontally arranged, the second sliding groove comprises a horizontal guide section and an arc-shaped guide section, the horizontal guide section is horizontally arranged, and the arc-shaped guide section is connected with the tail end of the horizontal guide section and is respectively arranged upwards and downwards symmetrically.

7. The robot system of any of claims 1-6, further comprising a lifting device and a detection apparatus;

the manipulator is detachably arranged on the lifting device, and the lifting device is used for lifting the manipulator;

the detection equipment is arranged between the fixed limiting arm and the movable limiting arm and is used for detecting the information of the obstacle object in a preset range;

the control device further comprises a lifting unit, and the lifting unit is used for driving the lifting device according to the obstacle object information.

8. A control method of a robot system according to any one of claims 1 to 7, comprising:

acquiring a global video image of a target object acquired by an unmanned aerial vehicle in real time, and displaying the global video image;

acquiring mark information input by a user;

tracking the positions of the marking manipulator and the target object in the global video image according to the marking information;

acquiring a local video image on the movable path of the manipulator, which is acquired by a camera device, and displaying the local video image;

acquiring hand action information of a user, which is acquired by an action acquisition device;

generating movement control information according to the hand action information so as to control a moving clamping unit to drive the manipulator to move;

and controlling a limiting unit to drive the manipulator to position according to positioning information input by a user.

9. The control method according to claim 8, wherein the hand motion information includes full fist information, five-finger opening information, index finger independent opening information, index finger and middle finger simultaneous opening information, thumb independent opening information, thumb and tail finger simultaneous opening information, and upper arm and lower arm angle information, the first movable clamping arm and the second movable clamping arm each include a clamping jaw assembly, a first telescopic section, a rotary telescopic driving mechanism, and a second telescopic section, which are connected in sequence, the clamping jaw assembly includes a clamping jaw and a clamping jaw driving mechanism, and the method for generating the motion control information according to the hand motion information includes:

converting the full fist making information into grasping information of the clamping jaws;

converting the five-finger opening information into loosening information of the clamping claw;

converting the index finger single opening information into the extension information of the first telescopic section;

converting the simultaneous opening information of the index finger and the middle finger into the extension information of the second telescopic section;

converting the thumb individual opening information into the contraction information of the first telescopic section;

converting the simultaneous opening information of the thumb and the tail finger into contraction information of the second telescopic section;

and converting the angle information between the upper arm and the lower arm into the angle information between the first telescopic section and the second telescopic section.

10. The control method according to claim 8, further comprising:

identifying an obstacle object in the local video image;

determining a target mobile node according to the moving range of the manipulator and the position information of the obstacle;

constructing a corresponding mobile reference path according to the target mobile node, wherein no obstacle exists in the mobile reference path;

displaying the moving reference path in the local video image.

11. The control method according to claim 8, wherein the manipulator further comprises a sawing unit, the movable limiting arm comprises a movable limiting arm body, an elastic connecting seat, a movable sleeve, a hinged seat, a second limiting claw, an elastic driving mechanism and a second limiting driving mechanism, the elastic connecting seat is connected to the front end of the movable limiting arm body through a spring set, a snap ring is arranged on the outer side of the elastic connecting seat, the movable sleeve is provided with a buckle matched with the snap ring and sleeved on the outer sides of the elastic connecting seat and the movable limiting arm body, the elastic driving mechanism is used for driving the movable sleeve to move, and the movable sleeve can drive the elastic connecting seat to move towards the movable limiting arm body through self-movement; the hinge base is hinged to the elastic connecting base, the second limiting claw is arranged at the front end of the hinge base, and the second limiting driving mechanism is used for driving the second limiting claw to grasp and loosen; the control method further comprises the following steps:

controlling a sawing unit to saw a target object according to the sawing information input by the user;

when the sawing unit finishes sawing, the second limiting driving mechanism is controlled to drive the movable limiting arm to release the target object, and meanwhile, the elastic driving mechanism is controlled to drive the movable limiting arm to push the target object.

12. The control method of claim 8, wherein the robot system further comprises a lifting device and a detecting device, the robot is detachably disposed on the lifting device, and the control method further comprises:

arranging the manipulator on the lifting device;

driving a lifting device to ascend to carry the manipulator, wherein in the ascending process of the lifting device:

when the information of the obstacle object collected by the detection equipment is not acquired, controlling the lifting device to keep in a lifting state;

and when the information of the obstacle object acquired by the detection equipment is acquired, controlling the lifting device to stop in a lifting state.